CN106741177A - Motor vehicles, anti-slip method and anti-slip system - Google Patents
Motor vehicles, anti-slip method and anti-slip system Download PDFInfo
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- CN106741177A CN106741177A CN201611260014.2A CN201611260014A CN106741177A CN 106741177 A CN106741177 A CN 106741177A CN 201611260014 A CN201611260014 A CN 201611260014A CN 106741177 A CN106741177 A CN 106741177A
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- Prior art keywords
- skidding
- circuit
- hydraulic closed
- rotational frequency
- rated rotational
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/358—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles all driven wheels being steerable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
This application discloses a kind of motor vehicles, anti-slip method and anti-slip system, wherein, anti-slip method the first rated rotational frequency is stored with when not skidding than the corresponding relation with steering angle according to the first rotating ratio and the inquiry of the second rotating ratio and when not skidding the second rated rotational frequency than the rated rotational frequency table with the corresponding relation of steering angle, judge whether running gear single hydraulic closed-circuit occurs and skid according to Query Result, and calculate slippage rate in the rotating speed and rated rotational frequency of two motors for judging the hydraulic closed-circuit that will appear from skidding when single hydraulic closed-circuit skids occur are than substituting into the first preset formula, occurs the discharge capacity of the skidding motor of the hydraulic closed-circuit for skidding finally according to slippage rate control, so that the wheel for occurring skidding recovers adhesive force, so as to eliminate skidding.Anti-slip method need not increase rotary angle transmitter to judge whether skidding occur in running gear, it is to avoid increase the complexity of running gear, and increased the applicability of anti-slip method.
Description
Technical field
The application is related to motor vehicles control technology field, more specifically to a kind of motor vehicles, anti-slip method
And anti-slip system.
Background technology
Being applied in farm machinery vehicle the running gear be made up of two hydraulic closed-circuits intersections, due to agricultural machine more
The working environment of tool vehicle is complex, easily occur when field is started to walk or travels on muddy or hollow section due to wheel with
Skidding, occurs when skidding occur, in same hydraulic closed-circuit in the situation that the adhesive force on road surface is smaller and skids
The motor flow of phenomenon side can be greatly increased, and pressure cannot be set up in the hydraulic closed-circuit so that same hydraulic closed is returned
The wheel that skidding occurs in Lu Zhongwei is further reduced with the adhesive force on road surface, and the driving to driver makes troubles.
Anti-slip method of the prior art obtains Running System by increasing rotary angle transmitter in the running gear
The steering angle of the four wheels of system, to calculate the turning radius of the running gear, then by calculating 4 wheel sides of wheel
Whether linear velocity relation proportional to turning radius judges whether skidding occur, when there is skidding by reducing
There is the motor displacement of the closed hydraulic loop skidded to reduce the output torque of the motor for occurring skidding, so as to increase appearance beat
Sliding wheel and the adhesive force on road surface, to realize eliminating the purpose of skidding.If not eliminating skidding yet, further
The discharge capacity of skidding motor is cut off, system pressure is re-established, and then for non-slip wheel provides enough driving torques, elimination is beaten
It is sliding.
But need to increase rotary angle transmitter in the running gear in this anti-slip method, this is to a certain extent
Increase the complexity of running gear, and the structure of some running gears is unsuitable for increasing rotary angle transmitter, and then cause this
The applicability of anti-slip method is poor.
Therefore, a kind of anti-slip method that need not increase rotary angle transmitter is needed badly.
The content of the invention
In order to solve the above technical problems, the invention provides a kind of motor vehicles, anti-slip method and anti-slip system, with
Realize, in the case where rotary angle transmitter is not increased, judging whether the running gear occurs skidding and the hydraulic pressure to occurring skidding
The discharge capacity of the motor of closed circuit is controlled to eliminate the purpose of skidding.
To realize above-mentioned technical purpose, following technical scheme is the embodiment of the invention provides：
A kind of anti-slip method, is applied to intersect the row for constituting by the first hydraulic closed-circuit and the second hydraulic closed-circuit
Walking system, the anti-slip method includes：
Two rotating speed ratios of motor in the first hydraulic closed-circuit are obtained, as the first rotating ratio；
Two rotating speed ratios of motor in the second hydraulic closed-circuit are obtained, as the second rotating ratio；
According to first rotating ratio and the second rotating ratio query criteria revolution counter, the walking is judged according to Query Result
Whether system single hydraulic closed-circuit occurs skids, if it is, the rotating speed that the hydraulic closed-circuit for skidding will do not occur is compared to
It is the rated rotational frequency ratio of the hydraulic closed-circuit, and according to the rated rotational frequency than inquiring about the rated rotational frequency table, obtains and occur beating
The rated rotational frequency ratio of sliding hydraulic closed-circuit；Be stored with the rated rotational frequency table when not skidding the first rated rotational frequency ratio with turn
Second rated rotational frequency is than the corresponding relation with steering angle to the corresponding relation of angle and when not skidding；
Will appear from the rotating speed and rated rotational frequency ratio the first preset formula of substitution of two motors of the hydraulic closed-circuit for skidding
Middle calculating slippage rate；
Occurs the discharge capacity of the skidding motor of the hydraulic closed-circuit for skidding according to slippage rate control, so as to occur skidding
Wheel recover adhesive force；
First preset formula is：Wherein, S represents the slippage rate, n1Represent occur what is skidded
The rotating speed of the preceding motor in hydraulic closed-circuit, n2The rotating speed of rear motor in the hydraulic closed-circuit for occurring skidding is represented, K is represented
There is the rated rotational frequency ratio of the hydraulic closed-circuit for skidding.
Optionally, the computational methods of the rated rotational frequency table include：
Obtain without skid and during different steering angle described in the preceding motor of the first hydraulic closed-circuit and rear motor rotating ratio
With the rotating ratio of the preceding motor of the second hydraulic closed-circuit and rear motor；
Horse before first hydraulic closed-circuit described in when specifications parameter according to the running gear calculates different steering angles
Motor control before up to the turning radius and second hydraulic closed-circuit of the front vehicle wheel with the rear wheel of rear motor control of control
The turning radius of the front vehicle wheel of system and the rear wheel of rear motor control；
The front vehicle wheel of the preceding motor control of the first hydraulic closed-circuit described in during according to different steering angles and rear motor control
The turning radius of rear wheel, the rear wheel of the front vehicle wheel of the preceding motor control of the second hydraulic closed-circuit and rear motor control
Turning radius and without skid and during different steering angle described in the preceding motor of the first hydraulic closed-circuit and rear motor rotating ratio
With the preceding motor of the second hydraulic closed-circuit the rated rotational frequency table is generated with the rotating ratio of rear motor.
Optionally, it is described according to first rotating ratio and the second rotating ratio query criteria revolution counter, according to Query Result
Judge whether the running gear single hydraulic closed-circuit skidding occurs and include：
According to the first rotating ratio query criteria revolution counter, judge whether first rotating ratio turns more than the standard
Maximum first rated rotational frequency ratio in fast table, or less than the rated rotational frequency table in minimum first rotating ratio, if it is, sentencing
Skidding occurs in fixed first hydraulic closed-circuit, if it is not, then judging that skidding does not occur in first hydraulic closed-circuit；
According to the second rotating ratio query criteria revolution counter, judge whether second rotating ratio turns more than the standard
Maximum second rated rotational frequency ratio in fast table, or less than the rated rotational frequency table in minimum second rotating ratio, if it is, sentencing
Skidding occurs in fixed second hydraulic closed-circuit, if it is not, then judging that skidding does not occur in second hydraulic closed-circuit；
When skidding occurs in only one hydraulic closed-circuit, judge that the running gear single hydraulic closed-circuit occurs and beats
It is sliding.
Optionally, it is described according to first rotating ratio and the second rotating ratio query criteria revolution counter, according to Query Result
Judge whether the running gear single hydraulic closed-circuit skidding occurs and include：
According to the first rotating ratio query criteria revolution counter, corresponding first steering angle of the first rotating ratio is obtained, sentenced
First steering angle that breaks whether more than maximum first rated rotational frequency in the rated rotational frequency table than corresponding steering angle,
Or less than the rated rotational frequency table in the corresponding steering angle of minimum first rotating ratio, if it is, judging first liquid
Skidding occurs in pressure closed circuit, if it is not, then judging that skidding does not occur in first hydraulic closed-circuit；
According to the second rotating ratio query criteria revolution counter, corresponding second steering angle of the second rotating ratio is obtained, sentenced
Second steering angle that breaks whether more than maximum second rated rotational frequency in the rated rotational frequency table than corresponding steering angle,
Or less than the rated rotational frequency table in the corresponding steering angle of minimum second rotating ratio, if it is, judging second liquid
Skidding occurs in pressure closed circuit, if it is not, then judging that skidding does not occur in second hydraulic closed-circuit；
When skidding occurs in only one hydraulic closed-circuit, judge that the running gear single hydraulic closed-circuit occurs and beats
It is sliding.
It is optionally, described to occur the discharge capacity of the skidding motor of the hydraulic closed-circuit for skidding according to slippage rate control,
So that the wheel recovery adhesive force for occurring skidding includes：
Whether the slippage rate is judged less than the first preset value, if it is, the driving demand according to the running gear
There is the discharge capacity of the skidding motor of the hydraulic closed-circuit for skidding in control；If it is not, then judging the slippage rate whether more than the
Two preset values, if so, the discharge capacity zero setting of the skidding motor of the hydraulic closed-circuit for skidding then is will appear from, if it is not, then according to described
Slippage rate size reduction occur skid hydraulic closed-circuit skidding motor discharge capacity, the decreasing value of motor displacement with it is described
Slippage rate is directly proportional.
A kind of anti-slip system, is applied to intersect the row for constituting by the first hydraulic closed-circuit and the second hydraulic closed-circuit
Walking system, the anti-slip method includes：
First rotating ratio acquisition module, for obtain the first hydraulic closed-circuit in two rotating speed ratios of motor, as
First rotating ratio；
Second rotating ratio acquisition module, for obtain the second hydraulic closed-circuit in two rotating speed ratios of motor, as
Second rotating ratio；
Skidding judge module, for according to first rotating ratio and the second rotating ratio query criteria revolution counter, according to looking into
Ask result and judge whether the running gear single hydraulic closed-circuit occurs and skid, if it is, the hydraulic pressure for skidding will not occurred
The rotating ratio of closed circuit as the hydraulic closed-circuit rated rotational frequency ratio, and according to the rated rotational frequency than inquiring about the standard
Revolution counter, obtains the rated rotational frequency ratio of the hydraulic closed-circuit for occurring skidding；It is stored with the rated rotational frequency table when not skidding
The second rated rotational frequency is more corresponding than with steering angle than the corresponding relation with steering angle and when not skidding for first rated rotational frequency
Relation；
Slippage rate computing module, the rotating speed and rated rotational frequency of two motors of the hydraulic closed-circuit for will appear from skidding
Than calculating slippage rate in the first preset formula of substitution；
Rotational speed control module, for occurring the skidding motor of the hydraulic closed-circuit for skidding according to slippage rate control
Discharge capacity, so that the wheel for occurring skidding recovers adhesive force；
First preset formula is：Wherein, S represents the slippage rate, n1Represent occur what is skidded
The rotating speed of the preceding motor in hydraulic closed-circuit, n2The rotating speed of rear motor in the hydraulic closed-circuit for occurring skidding is represented, K is represented
There is the rated rotational frequency ratio of the hydraulic closed-circuit for skidding.
Optionally, the skidding judge module is according to first rotating ratio and the second rotating ratio query criteria revolution counter,
According to Query Result judge the running gear whether occur single hydraulic closed-circuit skid specifically for：
According to the first rotating ratio query criteria revolution counter, judge whether first rotating ratio turns more than the standard
Maximum first rated rotational frequency ratio in fast table, or less than the rated rotational frequency table in minimum first rotating ratio, if it is, sentencing
Skidding occurs in fixed first hydraulic closed-circuit, if it is not, then judging that skidding does not occur in first hydraulic closed-circuit；
According to the second rotating ratio query criteria revolution counter, judge whether second rotating ratio turns more than the standard
Maximum second rated rotational frequency ratio in fast table, or less than the rated rotational frequency table in minimum second rotating ratio, if it is, sentencing
Skidding occurs in fixed second hydraulic closed-circuit, if it is not, then judging that skidding does not occur in second hydraulic closed-circuit；
When skidding occurs in only one hydraulic closed-circuit, judge that the running gear single hydraulic closed-circuit occurs and beats
It is sliding.
Optionally, the skidding judge module is according to first rotating ratio and the second rotating ratio query criteria revolution counter,
According to Query Result judge the running gear whether occur single hydraulic closed-circuit skid specifically for：
According to the first rotating ratio query criteria revolution counter, corresponding first steering angle of the first rotating ratio is obtained, sentenced
First steering angle that breaks whether more than maximum first rated rotational frequency in the rated rotational frequency table than corresponding steering angle,
Or less than the rated rotational frequency table in the corresponding steering angle of minimum first rotating ratio, if it is, judging first liquid
Skidding occurs in pressure closed circuit, if it is not, then judging that skidding does not occur in first hydraulic closed-circuit；
According to the second rotating ratio query criteria revolution counter, corresponding second steering angle of the second rotating ratio is obtained, sentenced
Second steering angle that breaks whether more than maximum second rated rotational frequency in the rated rotational frequency table than corresponding steering angle,
Or less than the rated rotational frequency table in the corresponding steering angle of minimum second rotating ratio, if it is, judging second liquid
Skidding occurs in pressure closed circuit, if it is not, then judging that skidding does not occur in second hydraulic closed-circuit；
When skidding occurs in only one hydraulic closed-circuit, judge that the running gear single hydraulic closed-circuit occurs and beats
It is sliding.
Optionally, the rotational speed control module specifically for, whether judge the slippage rate less than the first preset value, if
It is that then the discharge capacity of the skidding motor of the hydraulic closed-circuit for skidding occurs in the demand modeling that drives according to the running gear；Such as
It is really no, then whether the slippage rate is judged more than the second preset value, if so, then will appear from the skidding of the hydraulic closed-circuit of skidding
The discharge capacity zero setting of motor, if it is not, then the skidding horse of the hydraulic closed-circuit for skidding occurs in the size reduction according to the slippage rate
The discharge capacity for reaching, the decreasing value of motor displacement is directly proportional to the slippage rate.
A kind of motor vehicles, including the Running System for constituting is intersected by the first hydraulic closed-circuit and the second hydraulic closed-circuit
System, also includes：Anti-slip system as described in above-mentioned any one.
From above-mentioned technical proposal as can be seen that the embodiment of the invention provides a kind of motor vehicles, anti-slip method and prevent
Skidding system, wherein, the anti-slip method is stored with when not skidding according to first rotating ratio and the inquiry of the second rotating ratio
The second rated rotational frequency is more corresponding than with steering angle than the corresponding relation with steering angle and when not skidding for first rated rotational frequency
The rated rotational frequency table of relation, judges whether the running gear single hydraulic closed-circuit occurs and skid according to Query Result, and
Judge that the rotating speed and standard of two motors for the hydraulic closed-circuit that skidding is will appear from when single hydraulic closed-circuit skids occur turn
There is the hydraulic closed-circuit for skidding than calculating slippage rate in the first preset formula of substitution finally according to slippage rate control in speed
Skidding motor discharge capacity so that occur skid wheel recover adhesive force, so as to eliminate skidding.The anti-slip method
Need not rotary angle transmitter be increased in the running gear to judge whether skidding occur, it is to avoid increase the Running System
The complexity of system, and increased the applicability of the anti-slip method.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
A kind of schematic flow sheet of anti-slip method that Fig. 1 is provided for one embodiment of the application；
The schematic top plan view of the running gear that Fig. 2 is provided for one embodiment of the application；
The schematic top plan view of the running gear during all-wheel steering that Fig. 3 is provided for one embodiment of the application；
A kind of schematic flow sheet of anti-slip method that Fig. 4 is provided for another embodiment of the application；
A kind of structural representation of anti-slip system that Fig. 5 is provided for one embodiment of the application.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The embodiment of the present application provides a kind of anti-slip method, as shown in figure 1, be applied to by the first hydraulic closed-circuit and
Second hydraulic closed-circuit intersects the running gear for constituting, and the anti-slip method includes：
S101：Two rotating speed ratios of motor in the first hydraulic closed-circuit are obtained, as the first rotating ratio；
S102：Two rotating speed ratios of motor in the second hydraulic closed-circuit are obtained, as the second rotating ratio；
S103：According to first rotating ratio and the second rotating ratio query criteria revolution counter, institute is judged according to Query Result
State whether running gear single hydraulic closed-circuit skidding occurs, if it is, turning for the hydraulic closed-circuit for skidding will not occurred
Speed is used for the rated rotational frequency ratio of the hydraulic closed-circuit, and is obtained than inquiring about the rated rotational frequency table according to the rated rotational frequency
There is the rated rotational frequency ratio of the hydraulic closed-circuit for skidding；Be stored with the first rated rotational frequency when not skidding in the rated rotational frequency table
Second rated rotational frequency is than the corresponding relation with steering angle than the corresponding relation with steering angle and when not skidding；
S104：The rotating speed and rated rotational frequency that will appear from two motors of the hydraulic closed-circuit of skidding are preset than substituting into first
Slippage rate is calculated in formula；
S105：Occurs the discharge capacity of the skidding motor of the hydraulic closed-circuit for skidding according to slippage rate control, to use
The wheel for now skidding recovers adhesive force；
First preset formula is：Wherein, S represents the slippage rate, n1Represent occur what is skidded
A rotating speed for motor in hydraulic closed-circuit, n2Another motor turns in the hydraulic closed-circuit that expression appearance is skidded
Speed, K represents the rated rotational frequency ratio of the hydraulic closed-circuit for occurring skidding.
It should be noted that in this application, the skidding motor refers to control in the hydraulic closed-circuit for occur skidding
There is the motor of the wheel of skidding；The rotating speed ratio of two motors refers to the first hydraulic pressure in first hydraulic closed-circuit
The ratio of preceding motor rotary speed and rear motor rotary speed in closed circuit, accordingly, two motors in second hydraulic closed-circuit
Rotating speed ratio refer to preceding motor rotary speed and rear motor rotary speed in the second hydraulic closed-circuit ratio；Wherein, the preceding motor
Refer to the motor of wheel of the control in front of travel direction, the rear motor refers to wheel of the control positioned at travel direction rear
Motor.With reference to Fig. 2, Fig. 2 is the schematic top plan view of the running gear, and in fig. 2, arrow Heading directions are preceding
Enter direction, it is the first hydraulic closed-circuit that definition controls two motors of the wheel of label 1 and 3, definition control label 2 and 4
Two motors of wheel are the second hydraulic closed-circuit, in each hydraulic closed-circuit, two motors are controlled by pump
Discharge capacity；Wherein, the motor for controlling the wheel of label 1 is the preceding motor of the first hydraulic closed-circuit, controls the horse of the wheel of label 3
Up to the rear motor for the first hydraulic closed-circuit；The definition and first of preceding motor and rear motor in the second hydraulic closed-circuit
It is similar in hydraulic closed-circuit.
In the present embodiment, the anti-slip method is stored with not according to first rotating ratio and the inquiry of the second rotating ratio
First rated rotational frequency the second rated rotational frequency ratio and steering angle than the corresponding relation with steering angle and when not skidding during skidding
Corresponding relation rated rotational frequency table, judge whether the running gear single hydraulic closed-circuit occurs and beat according to Query Result
It is sliding, and the hydraulic closed-circuit for judging to occur to be will appear from when single hydraulic closed-circuit skids to skid two rotating speeds of motor and
Than calculating slippage rate in the first preset formula of substitution, the hydraulic pressure for occurring skidding finally according to slippage rate control is closed rated rotational frequency
The discharge capacity of the skidding motor in formula loop, so that the wheel for occurring skidding recovers adhesive force, so as to eliminate skidding.It is described to prevent beating
Sliding method need not increase rotary angle transmitter to judge whether skidding occur in the running gear, it is to avoid increase described
The complexity of running gear, and increased the applicability of the anti-slip method.
On the basis of above-described embodiment, in another embodiment of the application, the calculating side of the rated rotational frequency table
Method includes：
Obtain without skid and during different steering angle described in the preceding motor of the first hydraulic closed-circuit and rear motor rotating ratio
With the rotating ratio of the preceding motor of the second hydraulic closed-circuit and rear motor；
Horse before first hydraulic closed-circuit described in when specifications parameter according to the running gear calculates different steering angles
Motor control before up to the turning radius and second hydraulic closed-circuit of the front vehicle wheel with the rear wheel of rear motor control of control
The turning radius of the front vehicle wheel of system and the rear wheel of rear motor control；
The front vehicle wheel of the preceding motor control of the first hydraulic closed-circuit described in during according to different steering angles and rear motor control
The turning radius of rear wheel, the rear wheel of the front vehicle wheel of the preceding motor control of the second hydraulic closed-circuit and rear motor control
Turning radius and without skid and during different steering angle described in the preceding motor of the first hydraulic closed-circuit and rear motor rotating ratio
With the preceding motor of the second hydraulic closed-circuit the rated rotational frequency table is generated with the rotating ratio of rear motor.
Specifically, with reference to Fig. 3, Fig. 3 is the schematic top plan view of the running gear in all-wheel steering, in figure 3, outer guiding
Wheel deflection angle is α, and the deflection angle of interior guiding wheel is β, and the corresponding turning radius of 4 wheels is respectively r1、r2、r3And r4。
Take turns sideline speed is with the relation of motor rotary speed：Wherein v represents wheel sideline speed, n tables
Show motor rotary speed, R represents vehicle diameter, and i represents wheel speed reducing ratio；
Steering angleWherein ω represents steering angular velocity, and v represents wheel sideline speed, and r represents the wheel
Turning radius.
In the present embodiment using two motors in same hydraulic closed-circuit with the presence or absence of speed discrepancy as judging whether
The standard of skidding, judging for speed discrepancy is related to the turning radius of wheel, and (straight-line travelling can be considered as turning radius as just infinite
Zero) big situation, steering angle is.Two motors are defined in same hydraulic closed-circuit without being standard condition when skidding, now
With the presence of below equation：
ω1=ω3；ω2=ω4(3), wherein ω1Represent the steering angular velocity of the wheel marked as 1, ω2Represent marked as
The steering angular velocity of 2 wheel；ω3Represent the steering angular velocity of the wheel marked as 3；ω4Represent turning for the wheel marked as 4
To angular speed.
Formula (1) and (2) are substituted into formula (3), is derived and is obtained：
Wherein, RfRepresent front vehicle wheel in the running gear
Diameter, RrRepresent rear car wheel diameter, i in the running gearfRepresent the front-wheel speed reducing ratio of the running gear, ivRepresent described
The trailing wheel speed reducing ratio of running gear, n1、n2、n3And n4The car marked as 1,2,3 and 4 in the control running gear is represented respectively
The rotating speed of the motor of wheel.
The rotating ratio of preceding motor and rear motor is standard-K when defining in same hydraulic closed-circuit without skidding, then
Have
Can be drawn from the geometrical relationship in Fig. 3, the computing formula of the turning radius of the wheel of label 1-4 is：
Wherein, l axle distances, w represents left and right turn wheelbase.
In a specific embodiment of the application, l=w=3.5m, front and back wheel equal diameters R are setf=Rv, it is front and rear
The speed reducing ratio of wheel also equal if=iv, steering locking angle degree is ± 25 °.The rated rotational frequency table such as table 1 obtained by above-mentioned formula
It is shown.
The rated rotational frequency table of table 1
| -25° | -20° | -15° | -10° | -5° | 0° | 5° | 10° | 15° | 20° | 25° | |
| r1 | 4.14 | 5.12 | 6.76 | 10.08 | 20.08 | ∞ | 16.60 | 6.66 | 3.50 | 2.18 | 1.77 |
| r2 | 1.77 | 2.18 | 3.50 | 6.66 | 16.60 | ∞ | 20.08 | 10.08 | 6.76 | 5.12 | 4.14 |
| r3 | 4.14 | 5.12 | 6.76 | 10.08 | 20.08 | ∞ | 16.60 | 6.66 | 3.50 | 2.18 | 1.77 |
| r4 | 4.14 | 5.12 | 6.76 | 10.08 | 20.08 | ∞ | 16.60 | 6.66 | 3.50 | 2.18 | 1.77 |
| K13 | 2.34 | 2.34 | 1.93 | 1.51 | 1.21 | 1.00 | 0.83 | 0.66 | 0.52 | 0.43 | 0.43 |
| K24 | 0.43 | 0.43 | 0.52 | 0.66 | 0.83 | 1.00 | 1.21 | 1.51 | 1.93 | 2.34 | 2.34 |
In table 1, positive-angle is represented turns right, and negative angle represents；The unit of turning radius is rice in table.
It is described according to first rotating ratio in another embodiment of the application on the basis of above-described embodiment
With the second rotating ratio query criteria revolution counter, judge whether the running gear single hydraulic closed-circuit occurs according to Query Result
Skidding includes：
According to the first rotating ratio query criteria revolution counter, judge whether first rotating ratio turns more than the standard
Maximum first rated rotational frequency ratio in fast table, or less than the rated rotational frequency table in minimum first rotating ratio, if it is, sentencing
Skidding occurs in fixed first hydraulic closed-circuit, if it is not, then judging that skidding does not occur in first hydraulic closed-circuit；
According to the second rotating ratio query criteria revolution counter, judge whether second rotating ratio turns more than the standard
Maximum second rated rotational frequency ratio in fast table, or less than the rated rotational frequency table in minimum second rotating ratio, if it is, sentencing
Skidding occurs in fixed second hydraulic closed-circuit, if it is not, then judging that skidding does not occur in second hydraulic closed-circuit；
When skidding occurs in only one hydraulic closed-circuit, judge that the running gear single hydraulic closed-circuit occurs and beats
It is sliding.
It is described according to first rotating ratio in another embodiment of the application on the basis of above-described embodiment
With the second rotating ratio query criteria revolution counter, judge whether the running gear single hydraulic closed-circuit occurs according to Query Result
Skidding includes：
According to the first rotating ratio query criteria revolution counter, corresponding first steering angle of the first rotating ratio is obtained, sentenced
First steering angle that breaks whether more than maximum first rated rotational frequency in the rated rotational frequency table than corresponding steering angle,
Or less than the rated rotational frequency table in the corresponding steering angle of minimum first rotating ratio, if it is, judging first liquid
Skidding occurs in pressure closed circuit, if it is not, then judging that skidding does not occur in first hydraulic closed-circuit；
According to the second rotating ratio query criteria revolution counter, corresponding second steering angle of the second rotating ratio is obtained, sentenced
Second steering angle that breaks whether more than maximum second rated rotational frequency in the rated rotational frequency table than corresponding steering angle,
Or less than the rated rotational frequency table in the corresponding steering angle of minimum second rotating ratio, if it is, judging second liquid
Skidding occurs in pressure closed circuit, if it is not, then judging that skidding does not occur in second hydraulic closed-circuit；
When skidding occurs in only one hydraulic closed-circuit, judge that the running gear single hydraulic closed-circuit occurs and beats
It is sliding.
On the basis of above-described embodiment, in a preferred embodiment of the application, the anti-slip method also includes：
When there is skidding in first hydraulic closed-circuit and the second hydraulic closed-circuit, set the slippage rate as
0。
In the present embodiment, when first hydraulic closed-circuit and the second hydraulic closed-circuit skidding occur, then
Situation according to straight line moving calculates slippage rate.
On the basis of above-described embodiment, in another preferred embodiment of the application, as shown in figure 4, the basis
There is the discharge capacity of the skidding motor of the hydraulic closed-circuit for skidding in the slippage rate control, so that the wheel for occurring skidding recovers attached
Put forth effort to include：
S1051：Whether the slippage rate is judged less than the first preset value, if it is, according to the drive of the running gear
There is the discharge capacity of the skidding motor of the hydraulic closed-circuit for skidding in dynamic demand modeling；If it is not, then whether judging the slippage rate
More than the second preset value, if so, the discharge capacity zero setting of the skidding motor of the hydraulic closed-circuit for skidding then is will appear from, if it is not, then root
There is the discharge capacity of the skidding motor of the hydraulic closed-circuit for skidding, the decreasing value of motor displacement in size reduction according to the slippage rate
It is directly proportional to the slippage rate.
In the present embodiment, when skidding occurs in a certain hydraulic closed-circuit, the slippage rate being calculated by 0 gradually
Become big, until 1, represented when slippage rate is equal to 1 and skid completely.There is the hydraulic closed of skidding by reducing or returning to zero
The mode of the discharge capacity of the skidding motor in loop reduces the flow of motor, so as to eliminate skidding.
Following 4 processes can be specifically divided into：
When the slippage rate is less than or equal to the first preset value, it is believed that the hydraulic closed-circuit is in normally travel shape
There are two discharge capacities of motor of the hydraulic closed-circuit for skidding in state, the demand modeling that drives according to the running gear；
When the slippage rate is more than the first preset value, and during less than the second preset value, the size drop according to the slippage rate
The discharge capacity of the skidding motor of the low hydraulic closed-circuit for occurring skidding, the decreasing value of motor displacement is directly proportional to the slippage rate,
I.e. described slippage rate is bigger, and motor displacement decreasing value is bigger, and during discharge capacity reduction, motor output torque reduces, if small
In frictional ground force, the adhesive force of slip wheel is set up again, and two wheels recover to rated speed in same hydraulic closed-circuit.
When motor displacement is during being gradually reduced, if the adhesive force of slip wheel cannot be set up all the time, motor
Rotating speed can continue to increase, until hypervelocity.In order to avoid such case, setting is more than or equal to the second preset value when the slippage rate
When be complete slipping state, the skidding motor displacement of hydraulic closed-circuit that now will appear from skidding directly returns to zero, and is changed into floating
State, system pressure is set up simultaneously.The motor displacement not skidded keeps constant, and the discharge capacity of pump is according in hydraulic closed-circuit
The principle that running gear travel speed is consistent determines.
In a preferred embodiment of the application, when the slippage rate is gradually brought to less than the first preset value, go out
The discharge capacity of the skidding motor in the hydraulic closed-circuit for now skidding need to progressively recover discharge capacity when not skidding, to avoid to hydraulic pressure
The impact of closed circuit, also avoids the speed of the running gear from mutation occur.Here can be by Ramp functions, according to fixation
Step-length by reduce discharge capacity motor displacement progressively recover to the required discharge capacity of normally travel.
It should be noted that in order to ensure the consistent of travel speed, the discharge capacity of the pump in hydraulic closed-circuit need with
The adjustment of motor displacement and adjust.
Also, it should be noted that the span of first preset value can be 15%-30%, including endpoint value.Institute
The span for stating the second preset value can be 60%-90%.In one embodiment of the application, first preset value is
15%, second preset value is 85%.But in the other embodiment of the application, first preset value can also be
20%, second preset value can also be 90%.The application is to first preset value and the specific value of the second preset value
Do not limited with span, it is specific depending on actual conditions.
Accordingly, the embodiment of the present application additionally provides a kind of anti-slip system, as shown in figure 5, being applied to by the first hydraulic pressure
Closed circuit and the second hydraulic closed-circuit intersect the running gear for constituting, and the anti-slip method includes：
First rotating ratio acquisition module 100, for two rotating speed ratios of motor in the first hydraulic closed-circuit of acquisition, makees
It is the first rotating ratio；
Second rotating ratio acquisition module 200, for two rotating speed ratios of motor in the second hydraulic closed-circuit of acquisition, makees
It is the second rotating ratio；
Skidding judge module 300, for according to first rotating ratio and the second rotating ratio query criteria revolution counter, according to
Query Result judges whether the running gear single hydraulic closed-circuit occurs and skid, if it is, the liquid for skidding will not occurred
The rotating ratio of closed circuit is pressed as the rated rotational frequency ratio of the hydraulic closed-circuit, and according to the rated rotational frequency than inquiring about the mark
Quasi- revolution counter, obtains the rated rotational frequency ratio of the hydraulic closed-circuit for occurring skidding；It is stored with the rated rotational frequency table and is not skidded
When the first rated rotational frequency than the corresponding relation with steering angle and when not skidding, the second rated rotational frequency is more right than with steering angle
Should be related to；
Slippage rate computing module 400, the rotating speed and standard of two motors of the hydraulic closed-circuit for will appear from skidding
Rotating ratio calculates slippage rate in substituting into the first preset formula；
Rotational speed control module 500, for occurring the skidding horse of the hydraulic closed-circuit for skidding according to slippage rate control
The discharge capacity for reaching, so that the wheel for occurring skidding recovers adhesive force；
First preset formula is：Wherein, S represents the slippage rate, n1Represent occur what is skidded
The rotating speed of the preceding motor in hydraulic closed-circuit, n2The rotating speed of rear motor in the hydraulic closed-circuit for occurring skidding is represented, K is represented
There is the rated rotational frequency ratio of the hydraulic closed-circuit for skidding.
It should be noted that in this application, the skidding motor refers to control in the hydraulic closed-circuit for occur skidding
There is the motor of the wheel of skidding；The rotating speed ratio of two motors refers to the first hydraulic pressure in first hydraulic closed-circuit
The ratio of preceding motor rotary speed and rear motor rotary speed in closed circuit, accordingly, two motors in second hydraulic closed-circuit
Rotating speed ratio refer to preceding motor rotary speed and rear motor rotary speed in the second hydraulic closed-circuit ratio；Wherein, the preceding motor
Refer to the motor of wheel of the control in front of travel direction, the rear motor refers to wheel of the control positioned at travel direction rear
Motor.With reference to Fig. 2, Fig. 2 is the schematic top plan view of the running gear, in fig. 2, the wheel of definition control label 1 and 3
Two motors are the first hydraulic closed-circuit, and definition controls two motors of the wheel of label 2 and 4 for the second hydraulic closed is returned
Road, in each hydraulic closed-circuit, two discharge capacities of motor is controlled by a pump；Wherein, the motor of the wheel of control label 1
It is the preceding motor of the first hydraulic closed-circuit, the motor for controlling the wheel of label 3 is the rear motor of the first hydraulic closed-circuit；
The definition of preceding motor and rear motor in the second hydraulic closed-circuit is similar with the first hydraulic closed-circuit.
In the present embodiment, the anti-slip system is stored with not according to first rotating ratio and the inquiry of the second rotating ratio
First rated rotational frequency the second rated rotational frequency ratio and steering angle than the corresponding relation with steering angle and when not skidding during skidding
Corresponding relation rated rotational frequency table, judge whether the running gear single hydraulic closed-circuit occurs and beat according to Query Result
It is sliding, and the hydraulic closed-circuit for judging to occur to be will appear from when single hydraulic closed-circuit skids to skid two rotating speeds of motor and
Than calculating slippage rate in the first preset formula of substitution, the hydraulic pressure for occurring skidding finally according to slippage rate control is closed rated rotational frequency
The discharge capacity of the skidding motor in formula loop, so that the wheel for occurring skidding recovers adhesive force, so as to eliminate skidding.It is described to prevent beating
Sliding method need not increase rotary angle transmitter to judge whether skidding occur in the running gear, it is to avoid increase described
The complexity of running gear, and increased the applicability of the anti-slip method.
On the basis of above-described embodiment, in another embodiment of the application, the calculating side of the rated rotational frequency table
Method includes：
Obtain without skid and during different steering angle described in the preceding motor of the first hydraulic closed-circuit and rear motor rotating ratio
With the rotating ratio of the preceding motor of the second hydraulic closed-circuit and rear motor；
Horse before first hydraulic closed-circuit described in when specifications parameter according to the running gear calculates different steering angles
Motor control before up to the turning radius and second hydraulic closed-circuit of the front vehicle wheel with the rear wheel of rear motor control of control
The turning radius of the front vehicle wheel of system and the rear wheel of rear motor control；
The front vehicle wheel of the preceding motor control of the first hydraulic closed-circuit described in during according to different steering angles and rear motor control
The turning radius of rear wheel, the rear wheel of the front vehicle wheel of the preceding motor control of the second hydraulic closed-circuit and rear motor control
Turning radius and without skid and during different steering angle described in the preceding motor of the first hydraulic closed-circuit and rear motor rotating ratio
With the preceding motor of the second hydraulic closed-circuit the rated rotational frequency table is generated with the rotating ratio of rear motor.
Specifically, with reference to Fig. 3, Fig. 3 is the schematic top plan view of the running gear in all-wheel steering, in figure 3, outer guiding
Wheel deflection angle is α, and the deflection angle of interior guiding wheel is β, and the corresponding turning radius of 4 wheels is respectively r1、r2、r3And r4。
Take turns sideline speed is with the relation of motor rotary speed：Wherein v represents wheel sideline speed, n tables
Show motor rotary speed, R represents vehicle diameter, and i represents wheel speed reducing ratio；
Steering angleWherein ω represents steering angular velocity, and v represents wheel sideline speed, and r represents the wheel
Turning radius.
In the present embodiment using two motors in same hydraulic closed-circuit with the presence or absence of speed discrepancy as judging whether
The standard of skidding, judging for speed discrepancy is related to the turning radius of wheel, and (straight-line travelling can be considered as turning radius as just infinite
Zero) big situation, steering angle is.Two motors are defined in same hydraulic closed-circuit without being standard condition when skidding, now
With the presence of below equation：
ω1=ω3；ω2=ω4(3), wherein ω1Represent the steering angular velocity of the wheel marked as 1, ω2Represent marked as
The steering angular velocity of 2 wheel；ω3Represent the steering angular velocity of the wheel marked as 3；ω4Represent turning for the wheel marked as 4
To angular speed.
Formula (1) and (2) are substituted into formula (3), is derived and is obtained：
Wherein, RfRepresent front vehicle wheel in the running gear
Diameter, RrRepresent rear car wheel diameter, i in the running gearfRepresent the front-wheel speed reducing ratio of the running gear, ivRepresent described
The trailing wheel speed reducing ratio of running gear, n1、n2、n3And n4The car marked as 1,2,3 and 4 in the control running gear is represented respectively
The rotating speed of the motor of wheel.
The rotating ratio of preceding motor and rear motor is standard-K when defining in same hydraulic closed-circuit without skidding, then
Have
Can be drawn from the geometrical relationship in Fig. 3, the computing formula of the turning radius of the wheel of label 1-4 is：
Wherein, l axle distances, w represents left and right turn wheelbase.
In a specific embodiment of the application, l=w=3.5m, front and back wheel equal diameters R are setf=Rv, it is front and rear
The speed reducing ratio of wheel also equal if=iv, steering locking angle degree is ± 25 °.The rated rotational frequency table such as table 1 obtained by above-mentioned formula
It is shown.
The rated rotational frequency table of table 1
| -25° | -20° | -15° | -10° | -5° | 0° | 5° | 10° | 15° | 20° | 25° | |
| r1 | 4.14 | 5.12 | 6.76 | 10.08 | 20.08 | ∞ | 16.60 | 6.66 | 3.50 | 2.18 | 1.77 |
| r2 | 1.77 | 2.18 | 3.50 | 6.66 | 16.60 | ∞ | 20.08 | 10.08 | 6.76 | 5.12 | 4.14 |
| r3 | 4.14 | 5.12 | 6.76 | 10.08 | 20.08 | ∞ | 16.60 | 6.66 | 3.50 | 2.18 | 1.77 |
| r4 | 4.14 | 5.12 | 6.76 | 10.08 | 20.08 | ∞ | 16.60 | 6.66 | 3.50 | 2.18 | 1.77 |
| K13 | 2.34 | 2.34 | 1.93 | 1.51 | 1.21 | 1.00 | 0.83 | 0.66 | 0.52 | 0.43 | 0.43 |
| K24 | 0.43 | 0.43 | 0.52 | 0.66 | 0.83 | 1.00 | 1.21 | 1.51 | 1.93 | 2.34 | 2.34 |
In table 1, positive-angle is represented turns right, and negative angle represents；The unit of turning radius is rice in table.
On the basis of above-described embodiment, in another embodiment of the application, the basis of skidding judge module 300
First rotating ratio and the second rotating ratio query criteria revolution counter, judge whether the running gear occurs according to Query Result
Single hydraulic closed-circuit skid specifically for：
According to the first rotating ratio query criteria revolution counter, judge whether first rotating ratio turns more than the standard
Maximum first rated rotational frequency ratio in fast table, or less than the rated rotational frequency table in minimum first rotating ratio, if it is, sentencing
Skidding occurs in fixed first hydraulic closed-circuit, if it is not, then judging that skidding does not occur in first hydraulic closed-circuit；
According to the second rotating ratio query criteria revolution counter, judge whether second rotating ratio turns more than the standard
Maximum second rated rotational frequency ratio in fast table, or less than the rated rotational frequency table in minimum second rotating ratio, if it is, sentencing
Skidding occurs in fixed second hydraulic closed-circuit, if it is not, then judging that skidding does not occur in second hydraulic closed-circuit；
When skidding occurs in only one hydraulic closed-circuit, judge that the running gear single hydraulic closed-circuit occurs and beats
It is sliding.
On the basis of above-described embodiment, in another embodiment of the application, the basis of skidding judge module 300
First rotating ratio and the second rotating ratio query criteria revolution counter, judge whether the running gear occurs according to Query Result
Single hydraulic closed-circuit skid specifically for：
According to the first rotating ratio query criteria revolution counter, corresponding first steering angle of the first rotating ratio is obtained, sentenced
First steering angle that breaks whether more than maximum first rated rotational frequency in the rated rotational frequency table than corresponding steering angle,
Or less than the rated rotational frequency table in the corresponding steering angle of minimum first rotating ratio, if it is, judging first liquid
Skidding occurs in pressure closed circuit, if it is not, then judging that skidding does not occur in first hydraulic closed-circuit；
According to the second rotating ratio query criteria revolution counter, corresponding second steering angle of the second rotating ratio is obtained, sentenced
Second steering angle that breaks whether more than maximum second rated rotational frequency in the rated rotational frequency table than corresponding steering angle,
Or less than the rated rotational frequency table in the corresponding steering angle of minimum second rotating ratio, if it is, judging second liquid
Skidding occurs in pressure closed circuit, if it is not, then judging that skidding does not occur in second hydraulic closed-circuit；
When skidding occurs in only one hydraulic closed-circuit, judge that the running gear single hydraulic closed-circuit occurs and beats
It is sliding.
On the basis of above-described embodiment, in a preferred embodiment of the application, the skidding judge module 300 is also
For：
When there is skidding in first hydraulic closed-circuit and the second hydraulic closed-circuit, set the slippage rate as
0。
In the present embodiment, when first hydraulic closed-circuit and the second hydraulic closed-circuit skidding occur, then
Situation according to straight line moving calculates slippage rate.
On the basis of above-described embodiment, in another preferred embodiment of the application, the rotational speed control module tool
Whether body is used for, and the slippage rate is judged less than the first preset value, if it is, the driving demand control according to the running gear
Make the discharge capacity of the skidding motor of the hydraulic closed-circuit of existing skidding；If it is not, then judging the slippage rate whether more than second
Preset value, if so, the discharge capacity zero setting of the skidding motor of the hydraulic closed-circuit for skidding then is will appear from, if it is not, then according to the cunning
There is the discharge capacity of the skidding motor of the hydraulic closed-circuit for skidding, the decreasing value of motor displacement and the cunning in the size reduction of rate of rotation
Rate of rotation is directly proportional.
In the present embodiment, when skidding occurs in a certain hydraulic closed-circuit, the slippage rate being calculated by 0 gradually
Become big, until 1, represented when slippage rate is equal to 1 and skid completely.There is the hydraulic closed of skidding by reducing or returning to zero
The mode of the discharge capacity of the motor in loop reduces the flow of motor, so as to eliminate skidding.
Following 4 processes can be specifically divided into：
When the slippage rate is less than or equal to the first preset value, it is believed that the hydraulic closed-circuit is in normally travel shape
There are two discharge capacities of motor of the hydraulic closed-circuit for skidding in state, the demand modeling that drives according to the running gear；
When the slippage rate is more than the first preset value, and during less than the second preset value, the size drop according to the slippage rate
The discharge capacity of the skidding motor of the low hydraulic closed-circuit for occurring skidding, the decreasing value of motor displacement is directly proportional to the slippage rate,
I.e. described slippage rate is bigger, and motor displacement decreasing value is bigger, and during discharge capacity reduction, motor output torque reduces, if small
In frictional ground force, the adhesive force of slip wheel is set up again, and two wheels recover to rated speed in same hydraulic closed-circuit.
When motor displacement is during being gradually reduced, if the adhesive force of slip wheel cannot be set up all the time, motor
Rotating speed can continue to increase, until hypervelocity.In order to avoid such case, setting is more than or equal to the second preset value when the slippage rate
When be complete slipping state, the skidding motor displacement of hydraulic closed-circuit that now will appear from skidding directly returns to zero, and is changed into floating
State, system pressure is set up simultaneously.The motor displacement not skidded keeps constant, and the discharge capacity of pump is according in hydraulic closed-circuit
The principle that running gear travel speed is consistent determines.
In a preferred embodiment of the application, when the slippage rate is gradually brought to less than the first preset value, go out
The discharge capacity of the skidding motor in the hydraulic closed-circuit for now skidding need to progressively recover discharge capacity when not skidding, to avoid to hydraulic pressure
The impact of closed circuit, also avoids the speed of the running gear from mutation occur.Here can be by Ramp functions, according to fixation
Step-length by reduce discharge capacity motor displacement progressively recover to the required discharge capacity of normally travel.
It should be noted that in order to ensure the consistent of travel speed, the discharge capacity of the pump in hydraulic closed-circuit need with
The adjustment of motor displacement and adjust.
Also, it should be noted that the span of first preset value can be 15%-30%, including endpoint value.Institute
The span for stating the second preset value can be 60%-90%.In one embodiment of the application, first preset value is
15%, second preset value is 85%.But in the other embodiment of the application, first preset value can also be
20%, second preset value can also be 90%.The application is to first preset value and the specific value of the second preset value
Do not limited with span, it is specific depending on actual conditions.
Accordingly, the embodiment of the present application additionally provides a kind of motor vehicles, including by the first hydraulic closed-circuit and second
Hydraulic closed-circuit intersects the running gear for constituting, and also includes：Anti-slip system as described in above-mentioned any embodiment.
In sum, the embodiment of the present application provides a kind of motor vehicles, anti-slip method and anti-slip system, wherein,
The anti-slip method inquires about the first rated rotational frequency ratio when not skidding that is stored with according to first rotating ratio and the second rotating ratio
With the corresponding relation of steering angle and when not skidding the second rated rotational frequency than the rated rotational frequency with the corresponding relation of steering angle
Table, judges whether the running gear single hydraulic closed-circuit occurs and skid according to Query Result, and is judging single hydraulic pressure occur
Closed circuit will appear from two motors of the hydraulic closed-circuit for skidding rotating speed and rated rotational frequency when skidding is more pre- than substituting into first
If calculating slippage rate in formula, occurs the row of the skidding motor of the hydraulic closed-circuit for skidding finally according to slippage rate control
Amount, so that the wheel for occurring skidding recovers adhesive force, so as to eliminate skidding.The anti-slip method need not be in the row
Increase rotary angle transmitter in walking system to judge whether skidding occur, it is to avoid increase the complexity of the running gear,
And increased the applicability of the anti-slip method.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or uses the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The scope most wide for causing.
Claims (10)
1. a kind of anti-slip method, it is characterised in that be applied to be handed over by the first hydraulic closed-circuit and the second hydraulic closed-circuit
The running gear for constituting is pitched, the anti-slip method includes：
Two rotating speed ratios of motor in the first hydraulic closed-circuit are obtained, as the first rotating ratio；
Two rotating speed ratios of motor in the second hydraulic closed-circuit are obtained, as the second rotating ratio；
According to first rotating ratio and the second rotating ratio query criteria revolution counter, the running gear is judged according to Query Result
Whether there is single hydraulic closed-circuit to skid, if it is, will not occur the rotating ratio of the hydraulic closed-circuit for skidding as this
The rated rotational frequency ratio of hydraulic closed-circuit, and obtain and occur what is skidded than inquiring about the rated rotational frequency table according to the rated rotational frequency
The rated rotational frequency ratio of hydraulic closed-circuit；Be stored with the first rated rotational frequency ratio and steering angle when not skidding in the rated rotational frequency table
The corresponding relation of degree and when not skidding the second rated rotational frequency than the corresponding relation with steering angle；
The rotating speed and rated rotational frequency that will appear from two motors of the hydraulic closed-circuit of skidding are fallen into a trap than substituting into the first preset formula
Calculate slippage rate；
Occurs the discharge capacity of the skidding motor of the hydraulic closed-circuit for skidding according to slippage rate control, so as to the car for skidding occur
Wheel recovers adhesive force；
First preset formula is：Wherein, S represents the slippage rate, n1Represent the hydraulic pressure for occurring skidding
The rotating speed of the preceding motor in closed circuit, n2The rotating speed of rear motor in the hydraulic closed-circuit for occurring skidding is represented, K represents appearance
The rated rotational frequency ratio of the hydraulic closed-circuit of skidding.
2. anti-slip method according to claim 1, it is characterised in that the computational methods of the rated rotational frequency table include：
Obtain without skid and during different steering angle described in the preceding motor of the first hydraulic closed-circuit and rear motor rotating ratio and the
The rotating ratio of the preceding motor of two hydraulic closed-circuits and rear motor；
Motor control before first hydraulic closed-circuit described in when specifications parameter according to the running gear calculates different steering angles
Motor control before the front vehicle wheel of system and the turning radius and second hydraulic closed-circuit of the rear wheel of rear motor control
The turning radius of front vehicle wheel and the rear wheel of rear motor control；
After the front vehicle wheel of the preceding motor control of the first hydraulic closed-circuit described in during according to different steering angles and rear motor control
The turning radius of wheel, the front vehicle wheel of the preceding motor control of the second hydraulic closed-circuit turn with the rear wheel of rear motor control
To radius and without skid and during different steering angle described in the preceding motor of the first hydraulic closed-circuit and rear motor rotating ratio and the
The preceding motor of two hydraulic closed-circuits generates the rated rotational frequency table with the rotating ratio of rear motor.
3. anti-slip method according to claim 1, it is characterised in that described according to first rotating ratio and second turn
Speed judges whether the running gear single hydraulic closed-circuit skidding bag occurs than query criteria revolution counter according to Query Result
Include：
According to the first rotating ratio query criteria revolution counter, judge first rotating ratio whether more than the rated rotational frequency table
In maximum first rated rotational frequency ratio, or less than the rated rotational frequency table in minimum first rotating ratio, if it is, judge institute
State the first hydraulic closed-circuit to occur skidding, if it is not, then judging that skidding does not occur in first hydraulic closed-circuit；
According to the second rotating ratio query criteria revolution counter, judge second rotating ratio whether more than the rated rotational frequency table
In maximum second rated rotational frequency ratio, or less than the rated rotational frequency table in minimum second rotating ratio, if it is, judge institute
State the second hydraulic closed-circuit to occur skidding, if it is not, then judging that skidding does not occur in second hydraulic closed-circuit；
When skidding occurs in only one hydraulic closed-circuit, judge that the running gear single hydraulic closed-circuit occurs and skids.
4. anti-slip method according to claim 1, it is characterised in that described according to first rotating ratio and second turn
Speed judges whether the running gear single hydraulic closed-circuit skidding bag occurs than query criteria revolution counter according to Query Result
Include：
According to the first rotating ratio query criteria revolution counter, corresponding first steering angle of the first rotating ratio is obtained, judge institute
Whether than corresponding steering angle or small more than maximum first rated rotational frequency in the rated rotational frequency table state the first steering angle
The corresponding steering angle of minimum first rotating ratio in the rated rotational frequency table, if it is, judging that first hydraulic pressure is closed
Skidding occurs in formula loop, if it is not, then judging that skidding does not occur in first hydraulic closed-circuit；
According to the second rotating ratio query criteria revolution counter, corresponding second steering angle of the second rotating ratio is obtained, judge institute
Whether than corresponding steering angle or small more than maximum second rated rotational frequency in the rated rotational frequency table state the second steering angle
The corresponding steering angle of minimum second rotating ratio in the rated rotational frequency table, if it is, judging that second hydraulic pressure is closed
Skidding occurs in formula loop, if it is not, then judging that skidding does not occur in second hydraulic closed-circuit；
When skidding occurs in only one hydraulic closed-circuit, judge that the running gear single hydraulic closed-circuit occurs and skids.
5. anti-slip method according to claim 1, it is characterised in that described to occur skidding according to slippage rate control
Hydraulic closed-circuit skidding motor discharge capacity so that occur skid wheel recover adhesive force include：
Whether the slippage rate is judged less than the first preset value, if it is, the driving demand modeling according to the running gear
There is the discharge capacity of the skidding motor of the hydraulic closed-circuit for skidding；If it is not, then judging whether the slippage rate is pre- more than second
If value, if so, the discharge capacity zero setting of the skidding motor of the hydraulic closed-circuit for skidding then is will appear from, if it is not, then being trackslipped according to
There is the discharge capacity of the skidding motor of the hydraulic closed-circuit for skidding in the size reduction of rate, and the decreasing value of motor displacement is trackslipped with described
Rate is directly proportional.
6. a kind of anti-slip system, it is characterised in that be applied to be handed over by the first hydraulic closed-circuit and the second hydraulic closed-circuit
The running gear for constituting is pitched, the anti-slip method includes：
First rotating ratio acquisition module, for two rotating speed ratios of motor in the first hydraulic closed-circuit of acquisition, as first
Rotating ratio；
Second rotating ratio acquisition module, for two rotating speed ratios of motor in the second hydraulic closed-circuit of acquisition, as second
Rotating ratio；
Skidding judge module, for according to first rotating ratio and the second rotating ratio query criteria revolution counter, being tied according to inquiry
Fruit judges whether the running gear single hydraulic closed-circuit occurs and skid, if it is, the hydraulic closed for skidding will not occurred
The rotating ratio in loop as the hydraulic closed-circuit rated rotational frequency ratio, and according to the rated rotational frequency than inquiring about the rated rotational frequency
Table, obtains the rated rotational frequency ratio of the hydraulic closed-circuit for occurring skidding；It is stored with first when not skidding in the rated rotational frequency table
Rated rotational frequency than the corresponding relation with steering angle and when not skidding the second rated rotational frequency than the corresponding relation with steering angle；
Slippage rate computing module, rotating speed and rated rotational frequency the ratio generation of two motors of the hydraulic closed-circuit for will appear from skidding
Enter and calculate slippage rate in the first preset formula；
Rotational speed control module, for occurring the row of the skidding motor of the hydraulic closed-circuit for skidding according to slippage rate control
Amount, so that the wheel for occurring skidding recovers adhesive force；
First preset formula is：Wherein, S represents the slippage rate, n1Represent the hydraulic pressure for occurring skidding
The rotating speed of the preceding motor in closed circuit, n2The rotating speed of rear motor in the hydraulic closed-circuit for occurring skidding is represented, K represents appearance
The rated rotational frequency ratio of the hydraulic closed-circuit of skidding.
7. anti-slip system according to claim 6, it is characterised in that the skidding judge module is according to described first turn
Speed ratio and the second rotating ratio query criteria revolution counter, judge whether the running gear single hydraulic closed occurs according to Query Result
Loop skid specifically for：
According to the first rotating ratio query criteria revolution counter, judge first rotating ratio whether more than the rated rotational frequency table
In maximum first rated rotational frequency ratio, or less than the rated rotational frequency table in minimum first rotating ratio, if it is, judge institute
State the first hydraulic closed-circuit to occur skidding, if it is not, then judging that skidding does not occur in first hydraulic closed-circuit；
According to the second rotating ratio query criteria revolution counter, judge second rotating ratio whether more than the rated rotational frequency table
In maximum second rated rotational frequency ratio, or less than the rated rotational frequency table in minimum second rotating ratio, if it is, judge institute
State the second hydraulic closed-circuit to occur skidding, if it is not, then judging that skidding does not occur in second hydraulic closed-circuit；
When skidding occurs in only one hydraulic closed-circuit, judge that the running gear single hydraulic closed-circuit occurs and skids.
8. anti-slip system according to claim 6, it is characterised in that the skidding judge module is according to described first turn
Speed ratio and the second rotating ratio query criteria revolution counter, judge whether the running gear single hydraulic closed occurs according to Query Result
Loop skid specifically for：
According to the first rotating ratio query criteria revolution counter, corresponding first steering angle of the first rotating ratio is obtained, judge institute
Whether than corresponding steering angle or small more than maximum first rated rotational frequency in the rated rotational frequency table state the first steering angle
The corresponding steering angle of minimum first rotating ratio in the rated rotational frequency table, if it is, judging that first hydraulic pressure is closed
Skidding occurs in formula loop, if it is not, then judging that skidding does not occur in first hydraulic closed-circuit；
According to the second rotating ratio query criteria revolution counter, corresponding second steering angle of the second rotating ratio is obtained, judge institute
Whether than corresponding steering angle or small more than maximum second rated rotational frequency in the rated rotational frequency table state the second steering angle
The corresponding steering angle of minimum second rotating ratio in the rated rotational frequency table, if it is, judging that second hydraulic pressure is closed
Skidding occurs in formula loop, if it is not, then judging that skidding does not occur in second hydraulic closed-circuit；
When skidding occurs in only one hydraulic closed-circuit, judge that the running gear single hydraulic closed-circuit occurs and skids.
9. anti-slip system according to claim 6, it is characterised in that the rotational speed control module is specifically for judging
Whether the slippage rate is less than the first preset value, if it is, skidding occurs in the driving demand modeling according to the running gear
Hydraulic closed-circuit skidding motor discharge capacity；If it is not, then whether the slippage rate is judged more than the second preset value, if
It is the discharge capacity zero setting of the skidding motor of the hydraulic closed-circuit that then will appear from skidding, if it is not, then according to the size of the slippage rate
The discharge capacity of the skidding motor of the hydraulic closed-circuit for occurring skidding is reduced, the decreasing value of motor displacement is with the slippage rate into just
Than.
10. a kind of motor vehicles, including the Running System being made up of the first hydraulic closed-circuit and the second hydraulic closed-circuit intersection
System, it is characterised in that also include：Anti-slip system as described in claim any one of 6-9.
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| CN112042621A (en) * | 2020-08-31 | 2020-12-08 | 石河子大学 | Hydraulic drive walking sprayer |
| CN112937312A (en) * | 2021-02-02 | 2021-06-11 | 潍柴动力股份有限公司 | Vehicle control method and device |
| CN113187782A (en) * | 2021-05-07 | 2021-07-30 | 潍柴动力股份有限公司 | Control method, device and equipment of closed hydraulic system and storage medium |
| CN113428154A (en) * | 2021-08-04 | 2021-09-24 | 中国铁建重工集团股份有限公司 | Vehicle anti-skid control method and system |
| CN117799451A (en) * | 2024-02-28 | 2024-04-02 | 新乡市永安机械设备有限公司 | Motion control method for bidirectional remote control four steering wheels |
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